CN209970221U - Truss robot - Google Patents

Abstract

The utility model relates to a truss robot, wherein an oil storage tank, a tray component and a control box are arranged on a stand column, and a bottom plate is connected with a foot bottom plate through an adjusting component; the tray assembly comprises a tray base and a tray body, wherein the upper surface of the tray body is provided with a placing groove, and the tray body is connected with the tray base in a sliding manner; the cross beam is fixed at the top end of the upright post through the bridging beam, a transverse motor, a longitudinal motor and an auxiliary gear I are fixed on the fixing plate, the longitudinal motor is connected with the gear I, the auxiliary gear II is connected with an oil injection port, an oil outlet communicated with the oil injection port and a cashmere cloth layer are arranged on the gear surface of the auxiliary gear II, and the oil injection port is connected with an oil storage tank through a hose; the rotary gas claw comprises a body, a material taking head and a material loading head which are fixed on the body, and an elastic component is arranged on the material loading head. The truss robot is reasonable and simple in structural design, and the elastic component exerts the pushed force on the workpiece through the pushing piece during feeding; the adjusting assembly realizes horizontal adjustment of the truss robot; the auxiliary gear lubricates each rack in real time.

Description

Truss robot

Technical Field

The utility model belongs to the technical field of the manipulator technique and specifically relates to a truss robot.

Background

The truss robot is an intelligent mechanical arm and mainly comprises an upright frame, a component moving vertically and horizontally and a tool clamp, and the truss robot is matched with a lathe for taking and placing workpieces. The existing truss robot has the following defects: 1. the lathe workpiece chuck is transversely arranged, and when a workpiece is placed on the workpiece chuck, the workpiece is difficult to place in place, so that clamping is not firm; 2. the balance degree of the truss robot is fixed and cannot be adjusted well; 3. prolonged use can easily result in damage to the tooth engagement of the cross-bar assembly due to lack of lubrication.

SUMMERY OF THE UTILITY MODEL

To the not enough in the background art, the utility model provides a truss robot to overcome above defect.

The utility model provides a technical scheme that its technical problem adopted is:

a truss robot comprises an upright post, a base and a longitudinal and transverse moving assembly, wherein the base and the longitudinal and transverse moving assembly are positioned at the upper end and the lower end of the upright post; the tray assembly comprises a tray base, a bottom plate A and a tray body, wherein the upper surface of the tray body is provided with a placing groove; the longitudinal and transverse moving assembly comprises a cross beam, a connecting support plate and a mechanical arm, the connecting support plate is fixed on the cross beam in a sliding mode, the mechanical arm is fixed on the connecting support plate in a sliding mode, the cross beam is fixed at the top end of an upright post through a bridging beam, a transverse plate and a longitudinal plate are fixedly connected to the connecting support plate, a fixing plate is vertically arranged at the upper end of the transverse plate, a transverse motor and an auxiliary gear I are fixed on the fixing plate, a longitudinal motor and an auxiliary gear II are fixed on the longitudinal plate, the longitudinal motor is connected with a gear I, a longitudinal sliding rail and a rack I meshed with the gear I are arranged on the mechanical arm, the auxiliary gear I is meshed with the rack I, the transverse motor is connected with a gear II, a rack II meshed with the gear II is arranged on the cross beam, the auxiliary gear II is parallel to the gear II and is meshed with the, get stub bar and material loading head and set up perpendicularly, get the stub bar and all be equipped with the jack catch of at least a circular distribution on the stub bar, the jack catch inwards or outwards removes the realization simultaneously and snatchs or unclamp the work piece, is equipped with the gas blow pipe on getting the stub bar, is equipped with elastic component on the material loading head.

The bottom plate and the foot bottom plate are respectively provided with a plurality of groups of first screw holes and second screw holes which are opposite, the adjusting assembly comprises a screw, a screw cap and a stud of which the center is provided with a through hole, the upper end of the stud is provided with a regular polygon stress surface, the stud is sequentially screwed in the screw cap and the first screw holes and adjusts the levelness of the bottom plate, and then the screw penetrates through the through hole and is screwed in the second screw hole to fixedly connect the bottom plate and the foot bottom plate; and a gasket is arranged between the screw and the stud.

The tray base is provided with a guide rail and a screw rod parallel to the guide rail, the screw rod is connected with a first motor, counter bores are uniformly distributed on the guide rail, a first T-shaped through groove and a second T-shaped through groove are formed in the upper surface and the lower surface of the tray base, a limiting nut is arranged in the first T-shaped through groove, a countersunk screw penetrates through each counter bore, the end part of each countersunk screw is screwed on the first limiting nut, and the guide rail is detachable through the structure; the bottom plate A is provided with a central hole, a leveling hole and arc-shaped holes distributed around the central hole, a convex column inserted in the central hole is arranged on the bottom surface of the tray base, a second limiting nut is arranged in the T-shaped through groove II, a stud A penetrating through the arc-shaped holes is connected in the second limiting nut, and the other end of the stud A is in threaded connection with a locking nut; the bottom plate A is fixed on the upright post through a support plate component.

The tray assembly further comprises a tray fixing plate located between the tray body and the tray base, the bottom surface of the tray fixing plate is connected with the guide rail in a sliding mode through a sliding block, two columns are arranged on the upper surface of the tray fixing plate, a straight line formed by the two columns is used for judging the parallelism of the moving track of the tray fixing plate and the moving track of the rotary air claw, and column holes opposite to the two columns are further formed in the tray body.

The utility model discloses a support plate assembly, including two backup pads one, two backup pads A, bottom plate A, two backup pads one, connecting plate and two backup pads two, the backup pad subassembly includes that two fix backup pad one on the stand and two backup pads two on one of them backup pad one, and two backup pads one are kept away from the one end of stand and two backup pads two one end of keeping away from backup pad one and are connected through the connecting plate respectively, bottom plate.

The bridge beam comprises an upper plate, a lower plate and two side plates positioned between the upper plate and the lower plate, the two side plates are arranged in parallel, a connecting block is arranged between the two side plates, lightening holes are formed in the upper plate and the two side plates, two side edges of the two side plates are arranged on the inwards concave cambered surfaces, and threading holes are formed in the lower plate.

A gear surface of the auxiliary gear II is covered with a cashmere cloth layer, the auxiliary gear II is connected with an oil injection port, an oil outlet hole communicated with the oil injection port is formed in the gear surface of the auxiliary gear II, the oil injection port is connected with an oil storage tank through a hose, the upright post is hollow, and the hose and the cable pass through the hollow upright post; the first auxiliary gear and the second auxiliary gear have the same structure.

The elastic component comprises a pushing piece, a guide rod and a fixing piece, the pushing piece comprises a rod part with a circumference extending uniformly, one end of the fixing piece is fixed between adjacent claws, the guide rod is fixed at the other end of the fixing piece, the guide rod penetrates through the end part of the rod part in a sliding mode, and the elastic component located between the fixing piece and the rod part is sleeved on the guide rod.

And the transverse plate is provided with a label fixing cover. And reinforcing ribs distributed circumferentially are arranged between the upright post and the bottom plate.

The truss robot has reasonable and simple structural design, and the elastic component is arranged on the feeding head, so that the pushed force is applied to the workpiece by the pushing piece during feeding, the fixed end of the workpiece is pushed to the innermost part of the lathe workpiece chuck and placed in place, and the fixing is firm; the horizontal adjustment of the truss robot is realized by adjusting the adjusting component; the auxiliary gears are arranged to lubricate all the racks in real time, so that the using performance is guaranteed, and the service life is prolonged.

Drawings

Fig. 1 is a schematic structural diagram i of the present invention.

Fig. 2 is a schematic structural diagram i of the present invention for removing the protective cover 311.

Fig. 3 is a schematic structural view of the tray base 52.

Fig. 4 is a reference structure diagram of the working state of the rotary air gripper 7.

Fig. 5 is a schematic structural diagram ii of the present invention.

Fig. 6 is a schematic view of a local structure of the present invention.

Fig. 7 is a schematic diagram of the adjustment assembly 23 in a disassembled structure.

Fig. 8 is a schematic structural view of the adjustment assembly 23.

Fig. 9 is a schematic view of a local structure of the present invention.

Fig. 10 is a partial structural view of the robot arm 33.

Fig. 11 is a schematic structural view i of the rotary air gripper 7.

Fig. 12 is a schematic structural view ii of the rotary gas claw 7.

Fig. 13 is a schematic structural diagram ii of the present invention for removing the protective cover 311.

Fig. 14 is a schematic partial structural view iii of the present invention.

Fig. 15 is a schematic diagram of the base 52 and the bottom plate a53 in a disassembled structure.

Fig. 16 is an enlarged schematic view of a portion a in fig. 15.

Fig. 17 is a partially cut-away connection structure diagram of the base 52 and the bottom plate a 53.

Fig. 18 is a schematic view of the connection structure of the connection support plate 32.

Fig. 19 is a partial structural schematic view of the column 1.

Fig. 20 is a partial structural view of the tray base 52.

Detailed Description

Referring to fig. 1 to 20, the present invention: a truss robot comprises an upright post 1, a base 2 and a longitudinal and transverse moving assembly 3, wherein the base 2 and the longitudinal and transverse moving assembly are positioned at the upper end and the lower end of the upright post 1, an oil transfer pump 041, an oil storage tank 04, a tray assembly 5 and a control box 6 are sequentially arranged on the upright post 1 from top to bottom, the base 2 comprises a bottom plate 21 and a foot bottom plate 22, and the bottom plate 21 is connected with the foot bottom plate 22 through an adjusting assembly 23; the bottom plate 21 and the sole plate 22 are respectively provided with a plurality of groups of first screw holes 021 and second screw holes 022 which are opposite, the adjusting component 23 comprises a screw 231, a screw cap 232 and a stud 233 of which the center is provided with a through hole 234, the upper end of the stud 233 is provided with a regular polygon stress surface 235, the stud 233 is sequentially screwed in the screw cap 232 and the first screw holes 021 to adjust the levelness of the bottom plate 21, and then the screw 231 penetrates through the through hole 234 and is screwed in the second screw hole 022 to fixedly connect the bottom plate 21 and the sole plate 22; a washer 236 is arranged between the screw 231 and the stud 233. As shown in fig. 1, 7 and 8, the sole plate 22 is first fixed on the ground or a fixed surface; secondly, the bottom plate 21 is placed on the sole plate 22, and the first screw hole 021 is opposite to the second screw hole 022; then the stud 233 with the screw cap 232 is screwed into the first screw hole 021 from the upper part of the bottom plate 21, the regular polygon stress surface 235 is a force application surface for screwing a wrench in the screwing process, one end of the stud 233, which is screwed out of the bottom plate 21, is arranged on the upper surface of the bottom plate 22, the levelness of the bottom plate 21 is adjusted by adjusting the length of one end of the stud 233, which is screwed out of the bottom plate 21, preferably, at least three groups of first screw holes 021 and second screw holes 022 corresponding to each other are arranged, the levelness of the bottom plate 21 is adjusted by adjusting the length of the plurality of groups of studs 233, and after the adjustment is finished, the screw cap 232 is screwed to the lower end surface relative to the stud 233 to be tightly attached; then, the screw 231 covered with the washer 236 is inserted through the through hole 234 of the stud 233 screwed on the bottom plate 21 and screwed on the second screw hole 022 of the foot bottom plate 22, so as to connect and fix the bottom plate 21 and the foot bottom plate 22. Preferably, the components of the adjusting assembly 23 are connected separately before the bar is leveled, the stud 233 is screwed into the second screw hole 022 shorter than the first screw hole 021 so that the first screw hole 021 and the second screw hole 022 correspond, and then the levelness of the bottom plate 21 is adjusted according to the above operation.

As shown in fig. 1 and fig. 3, the tray assembly 5 includes a tray base 52, a bottom plate a53, and a tray body 51 having a placement groove 512 distributed on an upper surface thereof, the tray body 51 is slidably connected to the tray base 52, a guide rail 521 and a screw rod 522 parallel to the guide rail 521 are disposed on the tray base 52, and the screw rod 522 is connected to a first motor 523. The first motor 523 drives the screw 522 to drive the tray body 51 to slide along the guide rail 521. The tray base 52 is provided with a guide rail 521 and a lead screw 522 parallel to the guide rail 521, the lead screw 522 is connected with a first motor 523, counter bores 5211 are uniformly distributed on the guide rail 521, as shown in the attached drawings 15 and 20, the upper surface and the lower surface of the tray base 52 are respectively provided with a first T-shaped through groove 5201 and a second T-shaped through groove 5202, a first limit nut 5203 is arranged in the first T-shaped through groove 5201, a first counter bore 5211 of each limit nut 5212 is penetrated through by a counter screw 5212, the end part of the first counter screw 5212 is screwed on the first limit nut 5203, the guide rail 521 is fixed on the tray base 52 through a plurality of groups of the first counter screws 5212 and the first limit nuts 5203. As shown in fig. 15 and 16, the angle and the levelness of the tray base 52 relative to the bottom plate a53 are adjustable, the bottom plate a53 is provided with a central hole 531, a level adjusting hole 533 and arc holes 532 distributed around the central hole 531, the bottom surface of the tray base 52 is provided with a convex column 524 inserted in the central hole 531, a second limit nut 526 is arranged in the T-shaped through groove 5202, the second limit nut 526 is connected with a stud a527 penetrating through the arc hole 532, and the other end of the stud a527 is connected with a locking nut 528 through threads. Firstly, as shown in fig. 15, a plurality of groups of horizontal holes 533 are formed in the bottom plate a53, screws are screwed into the horizontal adjusting holes 533 from the lower side of the bottom plate a53, the screws are screwed out of the tray base 52 on which the bottom plate a53 is placed, and each group of screws is screwed out of the length of the bottom plate a53 to adjust the levelness of the tray base 52; after leveling is completed, as shown in fig. 17 and 16, the second limit nut 526 is placed in the second T-shaped through slot 5202, then the stud a527 is inserted with the arc-shaped hole 532 and screwed on the second limit nut 526 placed in the second T-shaped through slot 5202, then as shown in fig. 15, by adjusting the relative angle between the fixed seat 52 and the bottom plate a53, that is, the convex column 524 is placed in the central hole 531 and rotates, at the same time, the stud a527 swings in the arc-shaped hole 532, the angle adjustment of the fixed seat 52 is based on the connection line of the two columns 542 being parallel to the moving track of the rotary air claw 7, and after the angle of the fixed seat 52 is adjusted, as shown in fig. 17, by screwing the locking nut 528 on the stud a527, the second limit nut 526 is pulled towards the direction of the bottom plate a53, and finally the fixed seat 52 and the bottom plate a53 are fixed relatively firmly.

As shown in fig. 3, the tray assembly 5 further includes a tray fixing plate 54 located between the tray body 51 and the tray base 52, the bottom surface of the tray fixing plate 54 is slidably connected to the guide rail 521 through a slider 541, two columns 542 are disposed on the upper surface of the tray fixing plate 54, a straight line formed by the two columns 542 is used for determining the parallelism between the straight line and the moving track of the rotary air claw 7, a column hole 511 opposite to the two columns 542 is further disposed on the tray body 51, and the two columns 542 are used for fixing the tray body 51.

As shown in fig. 14, the base plate a53 is secured to the upright 1 by a support plate assembly 11. The backup pad subassembly 11 includes that two are fixed backup pad 111 on stand 1 and two backup pad two 112 on one of them backup pad 111 are fixed, and the one end that stand 1 was kept away from to two backup pad 111 and the one end that backup pad 111 was kept away from to two backup pad two 112 are connected through connecting plate 113 respectively, bottom plate A53 is fixed on two backup pad one 111, connecting plate 113 and two backup pad two 112.

As shown in fig. 2, 6, 9 and 18, the vertical and horizontal movement assembly 3 includes a cross beam 31, a connection support plate 32 slidably fixed on the cross beam 31, and a mechanical arm 33 slidably fixed on the connection support plate 32, the cross beam 31 is fixed on the top end of the column 1 through a bridge beam 4, the connection support plate 32 is fixedly connected with a transverse plate 322 and a longitudinal plate 323, a fixing plate 303 is vertically arranged at the upper end of the transverse plate 322, the transverse plate 322 and the cross beam 31 are slidably matched through a slider-slide rail set 500, a transverse motor 34 and a first auxiliary gear 304 are fixed on the fixing plate 303, a longitudinal motor 35 and a second auxiliary gear 305 are fixed on the longitudinal plate 323, the longitudinal motor 35 is connected with a first gear 351, and a through slot 324 for the first rack 331 to pass through and a guide block 325 for the longitudinal slide rail 3301 to pass. As shown in fig. 10, the mechanical arm 33 is provided with a longitudinal slide rail 3301 and a first rack 331 engaged with the first gear 351, the first auxiliary gear 304 is also engaged with the first rack 331, the transverse motor 34 is connected with a second gear 341, the cross beam 31 is provided with a second rack 310 engaged with the second gear 341, and the second auxiliary gear 305 is parallel to the second gear 341 and engaged with the rack 400. As shown in fig. 6, a gear surface of the second auxiliary gear 305 is covered with a fleece layer, the second auxiliary gear 305 is connected with an oil filling port 307, an oil outlet 306 communicated with the oil filling port 307 is arranged on the gear surface, the oil filling port 307 is connected with the oil storage tank 04 through a hose, and the first auxiliary gear 304 and the second auxiliary gear 305 have the same structure. The stand 1 is hollow, and hose and cable conductor pass therethrough, and hose and cable conductor adopt the hidden line to set up in stand 1, simplify exterior structure, protection hose and cable conductor. The oil delivery pump 041 delivers the lubricating oil in the oil storage tank 04 to the oil filling port 307 through a hose, and finally discharges the lubricating oil from the oil outlet 306, and the cashmere cloth layer adsorbs the lubricating oil, so that the lubricating oil is uniformly coated on the rack meshed with the cashmere cloth layer.

As shown in fig. 2, the end of the mechanical arm 33 is connected to a rotary air claw 7 through a receiving block 9, as shown in fig. 4, fig. 11 and fig. 12, the rotary air claw 7 includes a body 70, a material taking head 71 and a material feeding head 72 fixed on the body 70, the material taking head 71 and the material feeding head 72 are vertically arranged, at least a plurality of jaws 73 circumferentially distributed are arranged on the material taking head 71 and the material feeding head 72, the jaws 73 simultaneously move inwards or outwards to grab or release a workpiece, a gas blowing pipe 74 is arranged on the material taking head 71, and an elastic component 8 is arranged on the material feeding head 72. Specifically, the transverse motor 34 drives the connecting support plate 32 to drive the mechanical arm 33 to slide along the cross beam 31, so that the rotary air claw 7 is arranged right above the tray body 51; the feeding head 72 of the rotary gas claw 7 rotates downwards, then the mechanical arm 33 is driven to vertically move downwards, when the feeding head 72 clamps the workpiece 001, the end 002 to be processed of the workpiece 001 is arranged on the pushing piece 81, the pushing piece 81 is arranged on the top of the end 002 to be processed of the workpiece and moves towards the mechanical arm 33, and the elastic piece 84 is compressed; then the mechanical arm 33 moves vertically upwards, and then the mechanical arm 2 is driven to move towards the workpiece chuck 003, as shown in fig. 4, the material taking head 71 faces the workpiece chuck 003 which holds the processed workpiece 001, the air blowing pipe 74 is connected with the air pump to blow air to the processed workpiece 001 to remove impurities on the surface of the processed workpiece 001, then the claw 73 of the material taking head 71 is taken down and is far away from the workpiece chuck 003, then the air claw 7 is rotated to enable the material taking head 71 to face downwards, the material feeding head 72 which holds the workpiece 001 to be processed faces the workpiece chuck 003 and moves towards the workpiece chuck 003, finally the workpiece 001 to be processed faces the workpiece chuck, the claw 73 is loosened, and the fixed end of the workpiece 001 to be processed is pushed into the workpiece chuck 003 to be fixed by the pushing force of the pushing piece 81; and finally, repeating the above actions, placing the processed workpiece 001 into the originally placed placing groove 512, taking another workpiece 001 to be processed, and repeating the steps in the same way.

And reinforcing ribs 10 distributed circumferentially are arranged between the upright post 1 and the bottom plate 21.

As shown in fig. 13, the bridge beam 4 includes an upper plate 41, two side plates 43 with a lower plate 42 located between the upper plate and the lower plate, the two side plates 43 are arranged in parallel, a connecting block 40 is arranged between the two side plates, weight-reducing holes 44 are arranged on the upper plate 41 and the two side plates 43, two sides of the two side plates 43 are arranged on the inward-concave arc 431, and threading holes 400 are arranged on the lower plate 42 and the top plate 100 and are used for hoses and cables to pass through. As shown in fig. 19, a top plate 100 is disposed on the top of the upright 1, a cushion block 200 is disposed between the top plate 100 and the lower plate 42 and is located near to both sides, and a first reinforcing rib 300 is disposed between the top plate 100 and the upright 1.

The first auxiliary gear 304 and the second auxiliary gear 305 have the same structure.

As shown in fig. 11 and 12, the elastic assembly 8 includes a pushing element 81, a guide rod 82, and a fixing element 83, the pushing element 81 includes a rod portion 811 extending uniformly along the circumference, one end of the fixing element 83 is fixed between adjacent claws 73, the other end is fixed to the guide rod 82, the guide rod 82 is slidably disposed through the end of the rod portion 811, and the guide rod 82 is sleeved with an elastic element 84 located between the fixing element 83 and the rod portion 811.

The crossbeam 31 is provided with a protective cover 311, and the transverse plate 322 is provided with a label fixing cover 321.

The utility model effectively improves the problems mentioned in the background art, the truss robot has reasonable and simple structural design, and through the elastic component 8 arranged on the feeding head 72, the pushed force is applied to the workpiece 001 through the pushing piece 81 during feeding, the fixed end of the workpiece 001 is pushed to the innermost part of the lathe workpiece chuck 002, and is placed in place and fixed firmly; the horizontal adjustment of the truss robot is realized by adjusting the adjusting component 23; the auxiliary gears are arranged to lubricate all the racks in real time, so that the using performance is guaranteed, and the service life is prolonged.

The skilled person should understand that: although the present invention has been described in terms of the above embodiments, the inventive concepts are not limited to the embodiments, and any modifications that utilize the inventive concepts are intended to be included within the scope of the appended claims.

Claims (9)

1. The utility model provides a truss robot, includes stand (1) and is located base (2) and the vertical and horizontal movement subassembly (3) of stand (1) upper and lower extreme, its characterized in that: the upright post (1) is sequentially provided with an oil transfer pump (041), an oil storage tank (04), a tray assembly (5) and a control box (6) from top to bottom, the base (2) comprises a bottom plate (21) and a foot bottom plate (22), and the bottom plate (21) is connected with the foot bottom plate (22) through an adjusting assembly (23); the tray assembly (5) comprises a tray base (52), a bottom plate A (53) and a tray body (51) with a placing groove (512) distributed on the upper surface, the tray body (51) is connected with the tray base (52) in a sliding mode, and the angle and the levelness of the tray base (52) relative to the bottom plate A (53) are adjustable; the longitudinal and transverse moving assembly (3) comprises a cross beam (31), a connecting support plate (32) fixed on the cross beam (31) in a sliding mode, and a mechanical arm (33) fixed on the connecting support plate (32) in a sliding mode, the cross beam (31) is fixed at the top end of the upright post (1) through a bridging beam (4), the connecting support plate (32) is fixedly connected with a transverse plate (322) and a longitudinal plate (323), the upper end of the transverse plate (322) is vertically provided with a fixing plate (303), a transverse motor (34) and a first auxiliary gear (304) are fixed on the fixing plate (303), a longitudinal motor (35) and a second auxiliary gear (305) are fixed on the longitudinal plate (323), the longitudinal motor (35) is connected with a first gear (351), a longitudinal sliding rail (3301) and a first rack (331) meshed with the first gear (351) are arranged on the mechanical arm (33), and the first auxiliary gear (304) is meshed, horizontal motor (34) are connected with gear two (341), are equipped with on crossbeam (31) with gear two (341) meshing rack two (310), and arm (33) tip is connected with rotatory gas claw (7) through bearing block (9), rotatory gas claw (7) include body (70) and fix get stub bar (71) and material loading head (72) on body (70), get stub bar (71) and material loading head (72) and set up perpendicularly, all be equipped with jack catch (73) that at least a circumference distributes on getting stub bar (71) and material loading head (72), jack catch (73) are inwards or outwards removed simultaneously and are realized snatching or loosening the work piece, are equipped with gas blow pipe (74) on getting stub bar (71), are equipped with elastic component (8) on material loading head (72).

2. The truss robot of claim 1, wherein: the bottom plate (21) and the foot bottom plate (22) are respectively provided with a plurality of groups of first screw holes (021) and second screw holes (022) which are opposite, the adjusting component (23) comprises a screw (231), a screw cap (232) and a stud (233) of which the center is provided with a through hole (234), the upper end of the stud (233) is provided with a regular polygon stress surface (235), the stud (233) is sequentially screwed in the screw cap (232) and the first screw holes (021) and adjusts the levelness of the bottom plate (21), and then the screw (231) penetrates through the through hole (234) and is screwed in the second screw holes (022) to fixedly connect the bottom plate (21) and the foot bottom plate (22); and a gasket (236) is arranged between the screw (231) and the stud (233).

3. The truss robot of claim 1, wherein: the tray base (52) is provided with a guide rail (521) and a lead screw (522) parallel to the guide rail, the lead screw (522) is connected with a first motor (523), counter bores (5211) are uniformly distributed on the guide rail (521), the upper surface and the lower surface of the tray base (52) are respectively provided with a first T-shaped through groove (5201) and a second T-shaped through groove (5202), a first limit nut (5203) is arranged in the first T-shaped through groove (5201), a countersunk head screw (5212) is penetrated in each counter bore (5211), and the end part of the countersunk head screw (5212) is screwed on the first limit nut (5203); a central hole (531), a leveling hole (533) and arc-shaped holes (532) distributed around the central hole (531) are formed in the bottom plate A (53), a convex column (524) inserted into the central hole (531) is arranged on the bottom surface of the tray base (52), a second limiting nut (526) is arranged in the T-shaped through groove (5202), a stud A (527) penetrating through the arc-shaped hole (532) is connected in the second limiting nut (526), and a locking nut (528) is connected to the other end of the stud A (527) in a threaded manner; the bottom plate A (53) is fixed on the upright post (1) through a support plate component (11).

4. The truss robot of claim 3, wherein: the tray assembly (5) further comprises a tray fixing plate (54) located between the tray body (51) and the tray base (52), the bottom surface of the tray fixing plate (54) is connected with the guide rail (521) in a sliding mode through the sliding block (541), two columns (542) are arranged on the upper surface of the tray fixing plate (54), the straight line formed by the two columns (542) is used for judging the parallelism of the moving track of the rotating air claw (7) and the straight line formed by the two columns (542), and column holes (511) opposite to the two columns (542) are further formed in the tray body (51).

5. The truss robot of claim 4, wherein: supporting plate subassembly (11) include that two fix backup pad (111) on stand (1) and two fix backup pad two (112) on one of them backup pad (111), and the one end of stand (1) is kept away from in two backup pad (111) and the one end of backup pad (111) is kept away from in two backup pad two (112) is connected through connecting plate (113) respectively, bottom plate A (53) are fixed on two backup pad one (111), connecting plate (113) and two backup pad two (112).

6. The truss robot of claim 1, wherein: the bridge connection beam (4) comprises an upper plate (41), a lower plate (42) and two side plates (43) located between the upper plate and the lower plate, wherein the two side plates (43) are arranged in parallel, a connecting block (40) is arranged between the upper plate and the lower plate, weight reducing holes (44) are formed in the upper plate (41) and the two side plates (43), two sides of the two side plates (43) are arranged towards the inwards concave cambered surfaces (431), and threading holes (45) are formed in the lower plate (42).

7. The truss robot of claim 1, wherein: a cashmere cloth layer covers the gear surface of the auxiliary gear II (305), the auxiliary gear II (305) is connected with an oil filling port (307), an oil outlet hole (306) communicated with the oil filling port (307) is formed in the gear surface of the auxiliary gear II, the oil filling port (307) is connected with an oil storage tank (04) through a hose, the upright post (1) is hollow, and the hose and the cable pass through the hollow upright post; the first auxiliary gear (304) and the second auxiliary gear (305) have the same structure.

8. The truss robot of claim 1, wherein: elastic component (8) are including pushing away piece (81), guide arm (82), stationary blade (83), push away piece (81) including pole portion (811) that the circumference evenly extends, stationary blade (83) one end is fixed between adjacent jack catch (73), other end fixed guide arm (82), guide arm (82) slide and wear to establish the tip in pole portion (811), and guide arm (82) go up the cover and be provided with elastic component (84) that are located between stationary blade (83) and pole portion (811).

9. The truss robot of claim 1, wherein: a protective cover (311) is arranged on the cross beam (31), and a label fixing cover (321) is arranged on the transverse plate (322); and reinforcing ribs (10) distributed circumferentially are arranged between the upright post (1) and the bottom plate (21).

Images